EP2805903A1 - Verfahren und Vorrichtung zur Entladung von gestapelten Gegenständen, wie Schachteln - Google Patents

Verfahren und Vorrichtung zur Entladung von gestapelten Gegenständen, wie Schachteln Download PDF

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Publication number
EP2805903A1
EP2805903A1 EP13168693.3A EP13168693A EP2805903A1 EP 2805903 A1 EP2805903 A1 EP 2805903A1 EP 13168693 A EP13168693 A EP 13168693A EP 2805903 A1 EP2805903 A1 EP 2805903A1
Authority
EP
European Patent Office
Prior art keywords
objects
support surface
zone
surface zone
moving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13168693.3A
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English (en)
French (fr)
Other versions
EP2805903B1 (de
Inventor
Antoon Groters
Hans Burghardt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cartonmover BV
Original Assignee
Cartonmover BV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cartonmover BV filed Critical Cartonmover BV
Priority to DK13168693.3T priority Critical patent/DK2805903T3/en
Priority to EP13168693.3A priority patent/EP2805903B1/de
Publication of EP2805903A1 publication Critical patent/EP2805903A1/de
Application granted granted Critical
Publication of EP2805903B1 publication Critical patent/EP2805903B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/24—Unloading land vehicles

Definitions

  • the invention relates to a device for unloading stacked objects, like boxes.
  • the invention relates to a device, which is suitable to unload cardboard boxes from shipping containers.
  • cardboard boxes are stacked directly on the floor, without using pallets.
  • a forklift When such a shipping container needs to be unloaded, one cannot use a forklift and has to handle each box by hand. This is very labor intensive and could cause, for example, back injuries to the people unloading the boxes.
  • EP1885636 discloses a device for unloading stacked boxes from a shipping container.
  • This device comprises a movable arm, which is manually operable.
  • a gripper is arranged at the free end of the arm and is used to grip cardboard boxes from the top side. With this device a few adjacent boxes are picked up together, are rotated and are then moved onto a conveyor belt, which transports the boxes away from the device. The boxes are still abutting each other, like they were in the stack of boxes inside the shipping container. The close distance of the boxes will lead to problems in the further chain of transport, for example at a palletizing machine.
  • the arm used in this device requires a lot of space to be able to pick up the boxes, to rotate the row of boxes and to place the boxes onto a conveyor. Furthermore, it takes time to perform all the movements with the arm, which reduces the unloading speed of the shipping container.
  • the objects like cardboard boxes, are pulled by the gripper means onto the support surface. Then the surface zones will move the objects over the support surface, while the position of the objects is monitored by the position detection means.
  • the objects are pulled out of their row one by one. As a result the objects are spaced apart and transported away over the second surface zone.
  • the device according to the invention could be designed more compact.
  • the width of the support surface could almost be the same as the inner width of a shipping container.
  • the first and second surface zones are formed by a first and second conveyor.
  • a conveyor could, for example, be a conveyor belt or a roller conveyor.
  • the first conveyor is a roller conveyor and the gripper means comprise a first guide track arranged parallel and between the rollers for moving the gripper means in the axial direction of the rollers of the first conveyor.
  • roller conveyor By using a roller conveyor, it is possible to provide a guide track in between the rollers, wherein the guide track is somewhat lowered relative to the rollers. With this guide track it is possible to move the gripper means over the support surface to pick the objects from a stack and pull the gripped objects onto the support surface.
  • the gripper means further comprise a second guide track arranged on and perpendicular to the first guide track, for moving the gripper means in the transport direction of the first conveyor.
  • the second guide track ensures that the gripper can also be moved sideways, which is particularly relevant, when the support surface is almost the same width as the inner width of a shipping container.
  • the support surface is then kept stationary, while the gripper will move sideways to pick all the objects from a layer of the stack.
  • the gripper means could also be lifted over a short vertical distance relative to the support surface, such that gripped objects are easily pulled onto the support surface.
  • the gripper means could comprise an array of suction cups for suction to an object.
  • the size of the objects can vary per shipping container and even within one single container.
  • an array of suction cups one can move the array towards the stack of objects. At least some of the cups will get a hold on the objects, which enable the gripping means to pull the objects onto the support surface.
  • the suction cups are each independently telescopic movable, such that the suction cups can adjust easily to an uneven surface of the objects.
  • the suction cups are preferably provided with low pressure. Each could be provided with a restriction to reduce the volume of air, when a cup is not pressed against an object and to ensure that sufficient low pressure is available for the cups which are in contact with an object.
  • the suction cups could also each be provided with a venturi, which provides for each and every cup a separate low pressure source.
  • the position detection means comprise a scanning laser rangefinder.
  • a scanning laser rangefinder is a device, which uses a laser beam and a sensor to measure the distance between the device and an object, which reflects the laser beam.
  • the laser beam is scanned over a surface, for example by rotating the laser beam, which results in a number of distance measurements in relation to the rotation angle of the device. This provides a digital image of the surface in front of the scanning laser rangefinder. With this digital image it is thus possible to distinguish the objects and to determine the position of the objects on the supporting surface.
  • the scanning laser rangefinder is arranged adjacent the interface between the first and second surface zones. This will enable the device to track the objects, which are moved over the first surface zone and in perpendicular direction over the second surface zone.
  • the movable frame With the movable frame it is possible to advance the support surface into a shipping container as it is getting emptier by the unloading of the objects. With the height adjustment it is possible to level the support surface with a top layer of objects at the stack. In this way the gripper means will take rows of objects of a single object height one at a time toward the support surface.
  • the third conveyor is used to further transport away the spaced apart objects, which are transported over the second surface zone.
  • the invention also relates to a method for unloading objects with a device according to the invention, which method comprises the steps of:
  • the device 1 has a movable frame 4 having wheels 5.
  • An arm 6 is arranged on the movable frame 4 and tiltable by hydraulic cylinders 7.
  • a support surface 8 with a gripper 9 is arranged at the free end of the arm 6.
  • a conveyor belt 10 is provided next to the arm 6 for transporting away unloaded boxes 3.
  • the gripper 9 has a plurality of suction cups 16 arranged in a matrix on a frame part 17. This frame part 17 is guided over guide rails 18, such that the gripper 9 can move over the support surface 8.
  • a scanning laser rangefinder 19 is arranged adjacent the interface between the first and second surface zones 14, 15.
  • Figures 4A - 4C shows a top view of the support surface 8 in three different states.
  • FIG 4A the gripper 9 is moved over the support surface 8 via the guide rails 18.
  • the frame part 17 is slidable arranged on a frame base 20, such that the gripper with suction cups 16 is movable both in depth direction as in width direction of the support surface 8.
  • the gripper 9 has gripped three boxes 3 from a layer and pulls these boxes 3 onto the support surface.
  • the scanning laser rangefinder 19 constantly measures in several direction the distance between the rangefinder 19 and the surrounding objects, such as the boxes 3 in order to determine the position of these boxes 3.
  • the gripper 9 has positioned the three boxes 3 mainly in the first surface zone 14 and has returned to the home position in the left bottom corner of the support surface 8.
  • the controller (not shown) knows the position of the boxes 3 and controls the movement of the roller conveyor 14 such that the most right box 3 is moved into the second surface zone 15/
  • the controller detects based on the measurements of the rangefinder 19, that the first box 3 has moved sufficiently far, the movement of the first roller conveyor 14 can be started again to bring the second box 3 within the second surface zone15.
  • the boxes 3 are unloaded from a stack of boxes and moved with a certain spacing onto the conveyor belt 10 for further processing.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • De-Stacking Of Articles (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
EP13168693.3A 2013-05-22 2013-05-22 Verfahren und Vorrichtung zur Entladung von gestapelten Gegenständen, wie Schachteln Active EP2805903B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DK13168693.3T DK2805903T3 (en) 2013-05-22 2013-05-22 Method and device to unload the stacked articles, such as boxes
EP13168693.3A EP2805903B1 (de) 2013-05-22 2013-05-22 Verfahren und Vorrichtung zur Entladung von gestapelten Gegenständen, wie Schachteln

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13168693.3A EP2805903B1 (de) 2013-05-22 2013-05-22 Verfahren und Vorrichtung zur Entladung von gestapelten Gegenständen, wie Schachteln

Publications (2)

Publication Number Publication Date
EP2805903A1 true EP2805903A1 (de) 2014-11-26
EP2805903B1 EP2805903B1 (de) 2015-10-14

Family

ID=48537772

Family Applications (1)

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EP13168693.3A Active EP2805903B1 (de) 2013-05-22 2013-05-22 Verfahren und Vorrichtung zur Entladung von gestapelten Gegenständen, wie Schachteln

Country Status (2)

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EP (1) EP2805903B1 (de)
DK (1) DK2805903T3 (de)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9555982B2 (en) * 2013-08-28 2017-01-31 Intelligrated Headquarters Llc Robotic carton unloader
WO2019001840A1 (de) * 2017-06-28 2019-01-03 Bayerische Motoren Werke Aktiengesellschaft Depalettierungsvorrichtung zum depalettieren eines transportbehälters von einer ladefläche
US10196219B2 (en) 2014-11-28 2019-02-05 Gebo Packaging Solutions Italy Srl Detection device and method for a layer transfer device
US10336562B2 (en) 2013-05-17 2019-07-02 Intelligrated Headquarters, Llc Robotic carton unloader
US10807805B2 (en) 2013-05-17 2020-10-20 Intelligrated Headquarters, Llc Robotic carton unloader
US10829319B2 (en) 2013-05-17 2020-11-10 Intelligrated Headquarters, Llc Robotic carton unloader
US10906742B2 (en) 2016-10-20 2021-02-02 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
CN113233216A (zh) * 2021-06-08 2021-08-10 曜琅智慧科技产业(天津)有限公司 一种掏箱机器人及其使用方法
US20230227272A1 (en) * 2020-06-23 2023-07-20 Haddad & Co S.A.L. (Holding Company) Device and process for automated loading and unloading of parcels
WO2025174929A1 (en) * 2024-02-15 2025-08-21 Anyware Robotics Inc. Multi-purpose robotic systems and methods for warehouse automation

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE7313036U (de) * 1973-08-23 Faller S Vorrichtung zum Entladen von Paletten
DE19719748A1 (de) * 1997-05-09 1998-11-12 Fraunhofer Ges Forschung Vorrichtung zum Handhaben von Stückgütern, insbesondere von Paketen, für das Be- und Entladen eines Laderaumes sowie Verfahren zum Entladen eines Laderaumes
DE102004033437A1 (de) * 2004-04-01 2005-10-20 Christine Farrenkopf Transportvorrichtung
EP1885636A1 (de) 2005-05-09 2008-02-13 Copal Development B.V. Vorrichtung zum entladen eines frachtraums
EP1893512B1 (de) * 2005-05-05 2009-03-04 Arisi S.R.L. Automatischer entpalettierer

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE7313036U (de) * 1973-08-23 Faller S Vorrichtung zum Entladen von Paletten
DE19719748A1 (de) * 1997-05-09 1998-11-12 Fraunhofer Ges Forschung Vorrichtung zum Handhaben von Stückgütern, insbesondere von Paketen, für das Be- und Entladen eines Laderaumes sowie Verfahren zum Entladen eines Laderaumes
DE102004033437A1 (de) * 2004-04-01 2005-10-20 Christine Farrenkopf Transportvorrichtung
EP1893512B1 (de) * 2005-05-05 2009-03-04 Arisi S.R.L. Automatischer entpalettierer
EP1885636A1 (de) 2005-05-09 2008-02-13 Copal Development B.V. Vorrichtung zum entladen eines frachtraums
EP1885636B1 (de) * 2005-05-09 2013-04-17 Copal Development B.V. Vorrichtung zum entladen eines frachtraums

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10807805B2 (en) 2013-05-17 2020-10-20 Intelligrated Headquarters, Llc Robotic carton unloader
US10829319B2 (en) 2013-05-17 2020-11-10 Intelligrated Headquarters, Llc Robotic carton unloader
US10336562B2 (en) 2013-05-17 2019-07-02 Intelligrated Headquarters, Llc Robotic carton unloader
US10124967B2 (en) 2013-08-28 2018-11-13 Intelligrated Headquarters Llc Robotic carton unloader
US9555982B2 (en) * 2013-08-28 2017-01-31 Intelligrated Headquarters Llc Robotic carton unloader
US10196219B2 (en) 2014-11-28 2019-02-05 Gebo Packaging Solutions Italy Srl Detection device and method for a layer transfer device
EP3025988B1 (de) * 2014-11-28 2019-11-20 Gebo Packaging Solutions Italy SRL Nachweisvorrichtung und Verfahren für eine Schichtübertragungsvorrichtung
US10906742B2 (en) 2016-10-20 2021-02-02 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
WO2019001840A1 (de) * 2017-06-28 2019-01-03 Bayerische Motoren Werke Aktiengesellschaft Depalettierungsvorrichtung zum depalettieren eines transportbehälters von einer ladefläche
US11167940B2 (en) 2017-06-28 2021-11-09 Bayerische Motoren Werke Aktiengesellschaft Depalletizing device for depalletizing a transport receptacle from a storage surface
US20230227272A1 (en) * 2020-06-23 2023-07-20 Haddad & Co S.A.L. (Holding Company) Device and process for automated loading and unloading of parcels
US12122613B2 (en) * 2020-06-23 2024-10-22 Haddad & Co S.A.L. Device and process for automated loading and unloading of parcels
CN113233216A (zh) * 2021-06-08 2021-08-10 曜琅智慧科技产业(天津)有限公司 一种掏箱机器人及其使用方法
WO2025174929A1 (en) * 2024-02-15 2025-08-21 Anyware Robotics Inc. Multi-purpose robotic systems and methods for warehouse automation

Also Published As

Publication number Publication date
EP2805903B1 (de) 2015-10-14
DK2805903T3 (en) 2015-12-07

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